Visual tracking of multiple moving targets in 2D ultrasound guided robotic percutaneous interventions

Name: Visual tracking of multiple moving targets in 2D ultrasound guided robotic percutaneous interventions
Author: Kaya, Mert, Şenel, Enes, Ahmad, Mirza Awais, Bebek, Özkan

İsim	Visual tracking of multiple moving targets in 2D ultrasound guided robotic percutaneous interventions
Yazar	Kaya, Mert, Şenel, Enes, Ahmad, Mirza Awais, Bebek, Özkan
Basım Tarihi:	2017
Basım Yeri	- IEEE
Tür	Belge
Dil	İngilizce
Dijital	Evet
Yazma	Hayır
Kütüphane:	Özyeğin Üniversitesi
Demirbaş Numarası	978-1-5090-4633-1
Kayıt Numarası	e0b73a63-2481-4f48-aab4-a5d14828103a
Lokasyon	Mechanical Engineering
Tarih	2017
Notlar	Due to copyright restrictions, the access to the full text of this article is only available via subscription.
Örnek Metin	Percutaneous needle procedures are mostly carried out with the guidance of 2D ultrasound (US) imaging. US images are inherently noisy and their resolutions are low. Hence, target tracking can be challenging. Image based tracking methods can be used to track the needle and the target. This paper proposes visual tracking of multiple moving points, such as biopsy needles and targets, in 2D US images using normalized cross correlation and mutual information similarity functions. Both moving and deformable targets can be tracked. An affine motion model is used for small and moving target tracking and a thin plate spline motion model is used for deformable target tracking. During the tracking, needle and target template images are updated with a template update strategy. Also, tracking outputs of normalized cross correlation and mutual information are fused using the Kalman filter to reduce the tracking error. During the experiments, needle is inserted using a needle insertion robot. 2D US probe is attached to a robotic arm's end effector to servo the probe along the needle insertion path. Proposed needle and target tracking methods were tested with phantoms. Accuracies of the needle tip and moving target tracking methods were measured using an optical tracking system. Experimental results showed that the proposed tracking method could be used to simultaneously track the needle tip and the targets in real-time in 2D US guided percutaneous needle procedures.
DOI	10.1109/ICRA.2017.7989231

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Visual tracking of multiple moving targets in 2D ultrasound guided robotic percutaneous interventions

Yazar Kaya, Mert, Şenel, Enes, Ahmad, Mirza Awais, Bebek, Özkan

Basım Tarihi 2017

Basım Yeri - IEEE

Tür Belge

Dil İngilizce

Dijital Evet

Yazma Hayır

Kütüphane Özyeğin Üniversitesi

Demirbaş Numarası 978-1-5090-4633-1

Kayıt Numarası e0b73a63-2481-4f48-aab4-a5d14828103a

Lokasyon Mechanical Engineering

Tarih 2017

Notlar Due to copyright restrictions, the access to the full text of this article is only available via subscription.

Örnek Metin Percutaneous needle procedures are mostly carried out with the guidance of 2D ultrasound (US) imaging. US images are inherently noisy and their resolutions are low. Hence, target tracking can be challenging. Image based tracking methods can be used to track the needle and the target. This paper proposes visual tracking of multiple moving points, such as biopsy needles and targets, in 2D US images using normalized cross correlation and mutual information similarity functions. Both moving and deformable targets can be tracked. An affine motion model is used for small and moving target tracking and a thin plate spline motion model is used for deformable target tracking. During the tracking, needle and target template images are updated with a template update strategy. Also, tracking outputs of normalized cross correlation and mutual information are fused using the Kalman filter to reduce the tracking error. During the experiments, needle is inserted using a needle insertion robot. 2D US probe is attached to a robotic arm's end effector to servo the probe along the needle insertion path. Proposed needle and target tracking methods were tested with phantoms. Accuracies of the needle tip and moving target tracking methods were measured using an optical tracking system. Experimental results showed that the proposed tracking method could be used to simultaneously track the needle tip and the targets in real-time in 2D US guided percutaneous needle procedures.

DOI 10.1109/ICRA.2017.7989231